Decentralized control of a collective of autonomous robotic vehicles

In this paper, the performance of a group of autonomous vehicles tracking a prescribed goal is analyzed. The vehicles are considered to be ground-based unmanned robots acting as a group to maintain an unbroken communication network in a building or some other region. Vehicle interactions are modeled...

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Bibliographic Details
Main Authors: Schoenwald, D.A., Feddema, J.T., Oppel, F.J.
Format: Conference Proceeding
Language:English
Subjects:
Analytical models
Communication networks
Communication system control
Distributed control
Interconnected systems
Land vehicles
Mobile robots
Performance analysis
Remotely operated vehicles
Stability analysis
Online Access:Request full text
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Summary:In this paper, the performance of a group of autonomous vehicles tracking a prescribed goal is analyzed. The vehicles are considered to be ground-based unmanned robots acting as a group to maintain an unbroken communication network in a building or some other region. Vehicle interactions are modeled as a chain of interconnected systems. The stability of the entire collective as well as individual vehicles is studied using largescale systems theory. Stability can be controlled via two key parameters: vehicle speed constant (maximum vehicle speed times sample time) and vehicle interaction gain. In addition to the stability analysis, simulation of a group of vehicles in a building with walls, doors, and other obstacles is studied with respect to maintaining a communication network among the vehicles at all times.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2001.946052